alerts;
InfoLabel *thumbnail_label;
};
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index f531a289f9..cbea060920 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -120,7 +120,7 @@ class CompressedVipc:
self.vipc_server = VisionIpcServer("camerad")
for vst in vision_streams:
ed = sm[ENCODE_SOCKETS[vst]]
- self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height)
+ self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
self.vipc_server.start_listener()
self.procs = []
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 6f274aaf69..dd248f562e 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -5,14 +5,14 @@ import unittest # noqa: TID251
from opendbc.car.tests.routes import CarTestRoute
from openpilot.selfdrive.car.tests.test_models import TestCarModel
-from openpilot.tools.lib.route import SegmentName
+from openpilot.tools.lib.route import SegmentRange
-def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite:
+def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite:
test_suite = unittest.TestSuite()
for test_route in routes:
# create new test case and discover tests
- test_case_args = {"platform": test_route.car_model, "test_route": test_route, "test_route_on_bucket": ci}
+ test_case_args = {"platform": test_route.car_model, "test_route": test_route}
CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
return test_suite
@@ -23,16 +23,14 @@ if __name__ == "__main__":
"Uses selfdrive/car/tests/test_models.py")
parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
parser.add_argument("--car", help="Specify car model for test route")
- parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
args = parser.parse_args()
if len(sys.argv) == 1:
parser.print_help()
sys.exit()
- route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
- segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
+ sr = SegmentRange(args.route_or_segment_name)
- test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
- test_suite = create_test_models_suite([test_route], ci=args.ci)
+ test_routes = [CarTestRoute(sr.route_name, args.car, segment=seg_idx) for seg_idx in sr.seg_idxs]
+ test_suite = create_test_models_suite(test_routes)
unittest.TextTestRunner().run(test_suite)
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 8621ee0b00..7657457744 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -5,8 +5,8 @@ set -e
export PIP_DEFAULT_TIMEOUT=200
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT=$DIR/../
-cd $ROOT
+ROOT="$DIR"/../
+cd "$ROOT"
# updating uv on macOS results in 403 sometimes
function update_uv() {
@@ -24,9 +24,9 @@ function update_uv() {
if ! command -v "uv" > /dev/null 2>&1; then
echo "installing uv..."
curl -LsSf https://astral.sh/uv/install.sh | sh
- UV_BIN='$HOME/.cargo/env'
+ UV_BIN="$HOME/.cargo/env"
ADD_PATH_CMD=". \"$UV_BIN\""
- eval $ADD_PATH_CMD
+ eval "$ADD_PATH_CMD"
fi
echo "updating uv..."
@@ -36,9 +36,9 @@ echo "installing python packages..."
uv sync --frozen --all-extras
source .venv/bin/activate
-echo "PYTHONPATH=${PWD}" > $ROOT/.env
+echo "PYTHONPATH=${PWD}" > "$ROOT"/.env
if [[ "$(uname)" == 'Darwin' ]]; then
- echo "# msgq doesn't work on mac" >> $ROOT/.env
- echo "export ZMQ=1" >> $ROOT/.env
- echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
+ echo "# msgq doesn't work on mac" >> "$ROOT"/.env
+ echo "export ZMQ=1" >> "$ROOT"/.env
+ echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env
fi
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
new file mode 100644
index 0000000000..4dc22b9524
--- /dev/null
+++ b/tools/lib/github_utils.py
@@ -0,0 +1,114 @@
+import base64
+import requests
+from http import HTTPMethod
+
+class GithubUtils:
+ def __init__(self, api_token, data_token, owner='commaai', api_repo='openpilot', data_repo='ci-artifacts'):
+ self.OWNER = owner
+ self.API_REPO = api_repo
+ self.DATA_REPO = data_repo
+ self.API_TOKEN = api_token
+ self.DATA_TOKEN = data_token
+
+ @property
+ def API_ROUTE(self):
+ return f"https://api.github.com/repos/{self.OWNER}/{self.API_REPO}"
+
+ @property
+ def DATA_ROUTE(self):
+ return f"https://api.github.com/repos/{self.OWNER}/{self.DATA_REPO}"
+
+ def api_call(self, path, data="", method=HTTPMethod.GET, accept="", data_call=False, raise_on_failure=True):
+ token = self.DATA_TOKEN if data_call else self.API_TOKEN
+ if token:
+ headers = {"Authorization": f"Bearer {self.DATA_TOKEN if data_call else self.API_TOKEN}", \
+ "Accept": f"application/vnd.github{accept}+json"}
+ else:
+ headers = {}
+ path = f'{self.DATA_ROUTE if data_call else self.API_ROUTE}/{path}'
+ r = requests.request(method, path, headers=headers, data=data)
+ if not r.ok and raise_on_failure:
+ raise Exception(f"Call to {path} failed with {r.status_code}")
+ else:
+ return r
+
+ def upload_file(self, bucket, path, file_name):
+ with open(path, "rb") as f:
+ encoded = base64.b64encode(f.read()).decode()
+
+ # check if file already exists
+ sha = self.get_file_sha(bucket, file_name)
+ sha = f'"sha":"{sha}",' if sha else ''
+
+ data = f'{{"message":"uploading {file_name}", \
+ "branch":"{bucket}", \
+ "committer":{{"name":"Vehicle Researcher", "email": "user@comma.ai"}}, \
+ {sha} \
+ "content":"{encoded}"}}'
+ github_path = f"contents/{file_name}"
+ self.api_call(github_path, data=data, method=HTTPMethod.PUT, data_call=True)
+
+ def upload_files(self, bucket, files):
+ self.create_bucket(bucket)
+ for file_name,path in files:
+ self.upload_file(bucket, path, file_name)
+
+ def create_bucket(self, bucket):
+ if self.get_bucket_sha(bucket):
+ return
+ master_sha = self.get_bucket_sha('master')
+ github_path = "git/refs"
+ data = f'{{"ref":"refs/heads/{bucket}", "sha":"{master_sha}"}}'
+ self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
+
+ def get_bucket_sha(self, bucket):
+ github_path = f"git/refs/heads/{bucket}"
+ r = self.api_call(github_path, data_call=True, raise_on_failure=False)
+ return r.json()['object']['sha'] if r.ok else None
+
+ def get_file_url(self, bucket, file_name):
+ github_path = f"contents/{file_name}?ref={bucket}"
+ r = self.api_call(github_path, data_call=True)
+ return r.json()['download_url']
+
+ def get_file_sha(self, bucket, file_name):
+ github_path = f"contents/{file_name}?ref={bucket}"
+ r = self.api_call(github_path, data_call=True, raise_on_failure=False)
+ return r.json()['sha'] if r.ok else None
+
+ def get_pr_number(self, pr_branch):
+ github_path = f"commits/{pr_branch}/pulls"
+ r = self.api_call(github_path)
+ return r.json()[0]['number']
+
+ def get_bucket_link(self, bucket):
+ return f'https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/refs/heads/{bucket}'
+
+ def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False):
+ pr_number = self.get_pr_number(pr_branch)
+ data = f'{{"body": "{comment}"}}'
+ if overwrite:
+ github_path = f'issues/{pr_number}/comments'
+ r = self.api_call(github_path)
+ comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
+ if comments:
+ github_path = f'issues/comments/{comments[0]}'
+ self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
+ return
+
+ github_path=f'issues/{pr_number}/comments'
+ self.api_call(github_path, data=data, method=HTTPMethod.POST)
+
+ # upload files to github and comment them on the pr
+ def comment_images_on_pr(self, title, commenter, pr_branch, bucket, images):
+ self.upload_files(bucket, images)
+ table = [f'{title}
']
+ for i,f in enumerate(images):
+ if not (i % 2):
+ table.append('')
+ table.append(f'![](\\"https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/{bucket}/{f[0]}\\") | ')
+ if (i % 2):
+ table.append('
')
+ table.append('
Longitudinal maneuver report
\n",
+ f"{platform}
\n",
+ f"{route}
\n",
+ f"{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}
\n",
+ ]
+ if _description is not None:
+ builder.append(f"Description: {_description}
\n")
+ builder.append(f"CarParams
{format_car_params(CP)}{description}
\n")
+ for run, msgs in enumerate(runs):
+ t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
+ t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
+ t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+ t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
+ t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
+
+ # make time relative seconds
+ t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
+ t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
+ t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+ t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
+ t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
+
+ # maneuver validity
+ longActive = [m.longActive for m in carControl]
+ maneuver_valid = all(longActive) and (not any(cs.cruiseState.standstill for cs in carState) or CP.autoResumeSng)
+
+ _open = 'open' if maneuver_valid else ''
+ title = f'Run #{int(run)+1}' + (' (invalid maneuver!)' if not maneuver_valid else '')
+
+ builder.append(f"{title}
\n")
+
+ # get first acceleration target and first intersection
+ aTarget = longitudinalPlan[0].aTarget
+ target_cross_time = None
+ builder.append(f'Initial aTarget: {round(aTarget, 2)} m/s^2')
+
+ # Localizer is noisy, require two consecutive 20Hz frames above threshold
+ prev_crossed = False
+ for t, lp in zip(t_livePose, livePose, strict=True):
+ crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
+ if crossed and prev_crossed:
+ builder.append(f', crossed in {t:.3f}s')
+ target_cross_time = t
+ if maneuver_valid:
+ target_cross_times[description].append(t)
+ break
+ prev_crossed = crossed
+ else:
+ builder.append(', not crossed')
+ builder.append('
')
+
+ pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
+ builder.append(f'Average pitch: {sum(pitches) / len(pitches):0.2f} degrees
')
+
+ plt.rcParams['font.size'] = 40
+ fig = plt.figure(figsize=(30, 26))
+ ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})
+
+ ax[0].grid(linewidth=4)
+ ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
+ ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
+ ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
+ ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
+ ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
+ # TODO localizer accel
+ ax[0].set_ylabel('Acceleration (m/s^2)')
+ #ax[0].set_ylim(-6.5, 6.5)
+ ax[0].legend(prop={'size': 30})
+
+ if target_cross_time is not None:
+ ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+
+ ax[1].grid(linewidth=4)
+ ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
+ ax[1].set_ylabel('Velocity (m/s)')
+ ax[1].legend()
+
+ ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
+ ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
+ ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
+ for i in (2, 3):
+ ax[i].set_yticks([0, 1], minor=False)
+ ax[i].set_ylim(-1, 2)
+ ax[i].legend()
+
+ ax[-1].set_xlabel("Time (s)")
+ fig.tight_layout()
+
+ buffer = io.BytesIO()
+ fig.savefig(buffer, format='webp')
+ buffer.seek(0)
+ builder.append(f").decode()})
\n")
+ builder.append("Summary
\n"]
+ cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max']
+ table = []
+ for description, runs in maneuvers:
+ times = target_cross_times[description]
+ l = [description, len(times), len(runs)]
+ if len(times):
+ l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
+ table.append(l)
+ summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')
+
+ sum_idx = builder.index('{ summary }')
+ builder[sum_idx:sum_idx + 1] = summary
+
with open(output_fn, "w") as f:
- f.write("Longitudinal maneuver report
\n")
- f.write(f"{platform}
\n")
- f.write(f"{route}
\n")
- if _description is not None:
- f.write(f"Description: {_description}
\n")
- f.write(f"CarParams
{format_car_params(CP)}{description}
\n")
- for run, msgs in enumerate(runs):
- t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
- t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
- t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
- t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
- t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
-
- # make time relative seconds
- t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
- t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
- t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
- t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
- t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
-
- # maneuver validity
- longActive = [m.longActive for m in carControl]
- maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)
-
- _open = 'open' if maneuver_valid else ''
- title = f'Run #{int(run)+1}' + (' (invalid maneuver!)' if not maneuver_valid else '')
-
- f.write(f"{title}
\n")
-
- # get first acceleration target and first intersection
- aTarget = longitudinalPlan[0].aTarget
- target_cross_time = None
- f.write(f'Initial aTarget: {aTarget} m/s^2')
-
- # Localizer is noisy, require two consecutive 20Hz frames above threshold
- prev_crossed = False
- for t, lp in zip(t_livePose, livePose, strict=True):
- crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
- if crossed and prev_crossed:
- f.write(f', crossed in {t:.3f}s')
- target_cross_time = t
- if maneuver_valid:
- target_cross_times[description].append(t)
- break
- prev_crossed = crossed
- else:
- f.write(', not crossed')
- f.write('
')
-
- pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
- f.write(f'Average pitch: {sum(pitches) / len(pitches):0.2f} degrees
')
-
- plt.rcParams['font.size'] = 40
- fig = plt.figure(figsize=(30, 26))
- ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})
-
- ax[0].grid(linewidth=4)
- ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
- ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
- ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
- ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
- ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
- # TODO localizer accel
- ax[0].set_ylabel('Acceleration (m/s^2)')
- #ax[0].set_ylim(-6.5, 6.5)
- ax[0].legend(prop={'size': 30})
-
- if target_cross_time is not None:
- ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
-
- ax[1].grid(linewidth=4)
- ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
- ax[1].set_ylabel('Velocity (m/s)')
- ax[1].legend()
-
- ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
- ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
- ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
- for i in (2, 3):
- ax[i].set_yticks([0, 1], minor=False)
- ax[i].set_ylim(-1, 2)
- ax[i].legend()
-
- ax[-1].set_xlabel("Time (s)")
- fig.tight_layout()
-
- buffer = io.BytesIO()
- fig.savefig(buffer, format='png')
- buffer.seek(0)
- f.write(f").decode()})
\n")
- f.write("Summary
\n")
- for description, runs in maneuvers:
- times = target_cross_times[description]
- f.write(f"{description}
\n")
- f.write(f"Target crossed {len(times)} out of {len(runs)} runs
\n")
- if len(times):
- f.write(f"Mean time to cross: {sum(times) / len(times):.3f}s, min: {min(times):.3f}s, max: {max(times):.3f}s
\n")
+ f.write(''.join(builder))
print(f"\nReport written to {output_fn}\n")
@@ -144,6 +159,7 @@ if __name__ == '__main__':
lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs])
CP = lr.first('carParams')
+ ID = lr.first('initData')
platform = CP.carFingerprint
print('processing report for', platform)
@@ -165,4 +181,4 @@ if __name__ == '__main__':
if active_prev:
maneuvers[-1][1][-1].append(msg)
- report(platform, args.route, args.description, CP, maneuvers)
+ report(platform, args.route, args.description, CP, ID, maneuvers)
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 07582c3e6c..b10ffa1ac0 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -81,7 +81,7 @@ MANEUVERS = [
Maneuver(
"start from stop",
[Action(1.5, 5)],
- repeat=3,
+ repeat=2,
initial_speed=0.,
),
Maneuver(
@@ -168,6 +168,8 @@ def main():
longitudinalPlan.allowThrottle = True
longitudinalPlan.hasLead = True
+ longitudinalPlan.speeds = [0.2] # triggers carControl.cruiseControl.resume in controlsd
+
pm.send('longitudinalPlan', plan_send)
assistance_send = messaging.new_message('driverAssistance')
diff --git a/tools/op.sh b/tools/op.sh
index 4c792edefe..62d390c9b5 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -148,15 +148,20 @@ function op_check_python() {
INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
- echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
+ echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
loge "ERROR_PYTHON_NOT_FOUND"
return 1
- elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then
- echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
else
- echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
- loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
- return 1
+ LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
+ UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
+ VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
+ if [[ $VERSION -ge LB && $VERSION -le UB ]]; then
+ echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
+ else
+ echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
+ loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
+ return 1
+ fi
fi
}
diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml
index 33a24f76d6..460de97025 100644
--- a/tools/plotjuggler/layouts/longitudinal.xml
+++ b/tools/plotjuggler/layouts/longitudinal.xml
@@ -11,6 +11,7 @@
+
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 65a1e7a0b3..5e91aae943 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -37,7 +37,7 @@ tools/replay/replay --data_dir="/path_to/route"
# a2a0ccea32023010|2023-07-27--13-01-19--0
# a2a0ccea32023010|2023-07-27--13-01-19--1
# You can replay it like this:
-tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data-dir="/path_to_routes"
+tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes"
```
## Send Messages via ZMQ
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 1f966d4372..179af69d42 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -9,7 +9,8 @@ if arch == "Darwin":
else:
base_libs.append('OpenCL')
-replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
+replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
+ "route.cc", "util.cc", "timeline.cc"]
replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
Export('replay_lib')
replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 914c18e15f..73243ed20d 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -51,7 +51,7 @@ void CameraServer::startVipcServer() {
if (cam.width > 0 && cam.height > 0) {
rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
- vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height,
+ vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height,
nv12_buffer_size, nv12_width, nv12_width * nv12_height);
if (!cam.thread.joinable()) {
cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 21ca0ad74b..b5415ac808 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -1,5 +1,6 @@
#include "tools/replay/consoleui.h"
+#include
#include
#include
#include
@@ -7,6 +8,7 @@
#include
+#include "common/ratekeeper.h"
#include "common/util.h"
#include "common/version.h"
@@ -57,7 +59,7 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold
} // namespace
-ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) {
+ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "liveParameters"}) {
// Initialize curses
initscr();
clear();
@@ -80,24 +82,16 @@ ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"car
initWindows();
- qRegisterMetaType("uint64_t");
- qRegisterMetaType("ReplyMsgType");
installMessageHandler([this](ReplyMsgType type, const std::string msg) {
- emit logMessageSignal(type, QString::fromStdString(msg));
+ std::scoped_lock lock(mutex);
+ logs.emplace_back(type, msg);
});
installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
- emit updateProgressBarSignal(cur, total, success);
+ std::scoped_lock lock(mutex);
+ progress_cur = cur;
+ progress_total = total;
+ download_success = success;
});
-
- QObject::connect(replay, &Replay::streamStarted, this, &ConsoleUI::updateSummary);
- QObject::connect(¬ifier, SIGNAL(activated(int)), SLOT(readyRead()));
- QObject::connect(this, &ConsoleUI::updateProgressBarSignal, this, &ConsoleUI::updateProgressBar);
- QObject::connect(this, &ConsoleUI::logMessageSignal, this, &ConsoleUI::logMessage);
-
- sm_timer.callOnTimeout(this, &ConsoleUI::updateStatus);
- sm_timer.start(100);
- getch_timer.start(1000, this);
- readyRead();
}
ConsoleUI::~ConsoleUI() {
@@ -136,9 +130,7 @@ void ConsoleUI::initWindows() {
}
}
-void ConsoleUI::timerEvent(QTimerEvent *ev) {
- if (ev->timerId() != getch_timer.timerId()) return;
-
+void ConsoleUI::updateSize() {
if (is_term_resized(max_height, max_width)) {
for (auto win : w) {
if (win) delwin(win);
@@ -149,7 +141,6 @@ void ConsoleUI::timerEvent(QTimerEvent *ev) {
initWindows();
rWarning("resize term %dx%d", max_height, max_width);
}
- updateTimeline();
}
void ConsoleUI::updateStatus() {
@@ -162,23 +153,18 @@ void ConsoleUI::updateStatus() {
add_str(win, unit.c_str());
};
static const std::pair status_text[] = {
- {"loading...", Color::Red},
{"playing", Color::Green},
{"paused...", Color::Yellow},
};
sm.update(0);
- if (status != Status::Paused) {
- auto events = replay->events();
- uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9;
- bool playing = !events->empty() && events->back().mono_time > current_mono_time;
- status = playing ? Status::Playing : Status::Waiting;
- }
auto [status_str, status_color] = status_text[status];
write_item(0, 0, "STATUS: ", status_str, " ", false, status_color);
+ auto cur_ts = replay->routeDateTime() + (int)replay->currentSeconds();
+ char *time_string = ctime(&cur_ts);
std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
- write_item(0, 25, "TIME: ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true);
+ write_item(0, 25, "TIME: ", time_string, current_segment, true);
auto p = sm["liveParameters"].getLiveParameters();
write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " ");
@@ -218,7 +204,7 @@ void ConsoleUI::displayTimelineDesc() {
}
}
-void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) {
+void ConsoleUI::logMessage(ReplyMsgType type, const std::string &msg) {
if (auto win = w[Win::Log]) {
Color color = Color::Default;
if (type == ReplyMsgType::Debug) {
@@ -228,26 +214,26 @@ void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) {
} else if (type == ReplyMsgType::Critical) {
color = Color::Red;
}
- add_str(win, qPrintable(msg + "\n"), color);
+ add_str(win, (msg + "\n").c_str(), color);
wrefresh(win);
}
}
-void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) {
+void ConsoleUI::updateProgressBar() {
werase(w[Win::DownloadBar]);
- if (success && cur < total) {
+ if (download_success && progress_cur < progress_total) {
const int width = 35;
- const float progress = cur / (double)total;
+ const float progress = progress_cur / (double)progress_total;
const int pos = width * progress;
wprintw(w[Win::DownloadBar], "Downloading [%s>%s] %d%% %s", std::string(pos, '=').c_str(),
- std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(total).c_str());
+ std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(progress_total).c_str());
}
wrefresh(w[Win::DownloadBar]);
}
void ConsoleUI::updateSummary() {
const auto &route = replay->route();
- mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", qPrintable(route->name()), route->segments().size());
+ mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", route->name().c_str(), route->segments().size());
mvwprintw(w[Win::Stats], 1, 0, "Car Fingerprint: %s", replay->carFingerprint().c_str());
wrefresh(w[Win::Stats]);
}
@@ -263,18 +249,18 @@ void ConsoleUI::updateTimeline() {
wattroff(win, COLOR_PAIR(Color::Disengaged));
const int total_sec = replay->maxSeconds() - replay->minSeconds();
- for (auto [begin, end, type] : replay->getTimeline()) {
- int start_pos = ((begin - replay->minSeconds()) / total_sec) * width;
- int end_pos = ((end - replay->minSeconds()) / total_sec) * width;
- if (type == TimelineType::Engaged) {
+ for (const auto &entry : *replay->getTimeline()) {
+ int start_pos = ((entry.start_time - replay->minSeconds()) / total_sec) * width;
+ int end_pos = ((entry.end_time - replay->minSeconds()) / total_sec) * width;
+ if (entry.type == TimelineType::Engaged) {
mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
- } else if (type == TimelineType::UserFlag) {
+ } else if (entry.type == TimelineType::UserFlag) {
mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
} else {
auto color_id = Color::Green;
- if (type != TimelineType::AlertInfo) {
- color_id = type == TimelineType::AlertWarning ? Color::Yellow : Color::Red;
+ if (entry.type != TimelineType::AlertInfo) {
+ color_id = entry.type == TimelineType::AlertWarning ? Color::Yellow : Color::Red;
}
mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, color_id, NULL);
}
@@ -288,16 +274,9 @@ void ConsoleUI::updateTimeline() {
wrefresh(win);
}
-void ConsoleUI::readyRead() {
- int c;
- while ((c = getch()) != ERR) {
- handleKey(c);
- }
-}
-
void ConsoleUI::pauseReplay(bool pause) {
replay->pause(pause);
- status = pause ? Status::Paused : Status::Waiting;
+ status = pause ? Status::Paused : Status::Playing;
}
void ConsoleUI::handleKey(char c) {
@@ -305,7 +284,6 @@ void ConsoleUI::handleKey(char c) {
// pause the replay and blocking getchar()
pauseReplay(true);
updateStatus();
- getch_timer.stop();
curs_set(true);
nodelay(stdscr, false);
@@ -330,7 +308,6 @@ void ConsoleUI::handleKey(char c) {
nodelay(stdscr, true);
curs_set(false);
refresh();
- getch_timer.start(1000, this);
} else if (c == '+' || c == '=') {
auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
@@ -367,7 +344,37 @@ void ConsoleUI::handleKey(char c) {
replay->seekTo(-10, true);
} else if (c == ' ') {
pauseReplay(!replay->isPaused());
- } else if (c == 'q' || c == 'Q') {
- qApp->exit();
}
}
+
+int ConsoleUI::exec() {
+ RateKeeper rk("Replay", 20);
+ while (true) {
+ int c = getch();
+ if (c == 'q' || c == 'Q') {
+ break;
+ }
+ handleKey(c);
+
+ if (rk.frame() % 25) {
+ updateSize();
+ updateSummary();
+ }
+
+ updateTimeline();
+ updateStatus();
+
+ {
+ std::scoped_lock lock(mutex);
+ updateProgressBar();
+ for (auto &[type, msg] : logs) {
+ logMessage(type, msg);
+ }
+ logs.clear();
+ }
+
+ qApp->processEvents();
+ rk.keepTime();
+ }
+ return 0;
+}
diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h
index 6ed44bc623..3d4abeb458 100644
--- a/tools/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -1,21 +1,17 @@
#pragma once
#include
-#include
-#include
-#include
-#include
-#include
+#include
+#include
#include "tools/replay/replay.h"
#include
-class ConsoleUI : public QObject {
- Q_OBJECT
-
+class ConsoleUI {
public:
- ConsoleUI(Replay *replay, QObject *parent = 0);
+ ConsoleUI(Replay *replay);
~ConsoleUI();
+ int exec();
inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
private:
@@ -27,25 +23,21 @@ private:
void updateSummary();
void updateStatus();
void pauseReplay(bool pause);
+ void updateSize();
+ void updateProgressBar();
+ void logMessage(ReplyMsgType type, const std::string &msg);
- enum Status { Waiting, Playing, Paused };
+ enum Status { Playing, Paused };
enum Win { Title, Stats, Log, LogBorder, DownloadBar, Timeline, TimelineDesc, Help, CarState, Max};
std::array w{};
SubMaster sm;
Replay *replay;
- QBasicTimer getch_timer;
- QTimer sm_timer;
- QSocketNotifier notifier{0, QSocketNotifier::Read, this};
int max_width, max_height;
- Status status = Status::Waiting;
+ Status status = Status::Playing;
-signals:
- void updateProgressBarSignal(uint64_t cur, uint64_t total, bool success);
- void logMessageSignal(ReplyMsgType type, const QString &msg);
-
-private slots:
- void readyRead();
- void timerEvent(QTimerEvent *ev);
- void updateProgressBar(uint64_t cur, uint64_t total, bool success);
- void logMessage(ReplyMsgType type, const QString &msg);
+ std::mutex mutex;
+ std::vector> logs;
+ uint64_t progress_cur = 0;
+ uint64_t progress_total = 0;
+ bool download_success = false;
};
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
index 95eef9d233..aa20ab8e32 100644
--- a/tools/replay/lib/rp_helpers.py
+++ b/tools/replay/lib/rp_helpers.py
@@ -8,7 +8,8 @@ rerunColorPalette = [(96, "red", (255, 0, 0)),
(230, "vibrantpink", (255, 36, 170)),
(240, "orange", (255, 146, 0)),
(255, "white", (255, 255, 255)),
- (110, "carColor", (255,0,127))]
+ (110, "carColor", (255,0,127)),
+ (0, "background", (0, 0, 0))]
class UIParams:
@@ -68,7 +69,7 @@ def plot_lead(rs, lid_overlay):
lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
-def maybe_update_radar_points(lt, lid_overlay):
+def update_radar_points(lt, lid_overlay):
ar_pts = []
if lt is not None:
ar_pts = {}
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index a0c072438d..b880e99e23 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,9 +1,124 @@
+#include
+
#include
-#include
+#include
+#include 
|
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|